Andrei, Arion, and Will arrived at ACRC around 3:00pm to obtain fault detection data from Thor. Three tests were conducted in which artificial faults were injected into one of the ailerons, and into the roll rate signal during a roll angle tracking pattern. After these three tests, there was time and batteries for one more test, so a new waypoint tracking pattern was successfully tested. All flight ops ran smoothly. Software used for this flight was trunk/Software/FlightCode rev 907 Each of the three fault detection tests consisted of six different fault cases, each being repeated 3 times. The first two cases were unfaulted scenarios to compare to. The next four cases inject an aileron fault 7 seconds after autopilot (A/P) is engaged, and a -80 deg/sec roll rate impulse fault 12 seconds after A/P is engaged. The third case aileron fault is a ramp of 5 degrees for 13 seconds. Case four is a 13 second, 10 degree right aileron fault. Case five is a 5 deg impulse fault on the right aileron, and case six is a 10 deg impulse fault on the right aileron. During each case, a roll angle tracking pattern was conducted using a different baseline controller for each flight. Thor flight 72 was conducted to test Peter Bauer's waypoint tracking algorithm with a more precise waypoint tolerance of 10 meters instead 20 meters. A waypoint pattern consisting of five points was used. The algorithm and controller performed very well. Software modules used were waypoint_guidance_100,heading_tracker_BP, and EKF_15state.
Thor Flight 72.
Retrieved from the University of Minnesota Digital Conservancy,
Content distributed via the University of Minnesota's Digital Conservancy may be subject to additional license and use restrictions applied by the depositor.